Abstract
In order to solve the problem of ship's curve trajectory-tracking control, the Norrbin nonlinear response model which can accurately describe the ship's motion state is selected in this paper. The hyperbolic tangent function is used to design the expected hemispheric angle equation, then the complex track control is transformed into a heading control problem. The fast terminal sliding mode (FTSM) is introduced together with the Backstepping control technique to reduce the system adjustment time, eliminate the chattering. Bying combined with extended states observer (ESO) and dynamic surface control (DSC) technique, the internal and external disturbances in real-time can be estimated and compensated, and the “explosion of complexity” caused by backstepping technique is solved. The state of the control system is bounded and stable, and the system error converges to zero. Matlab simulation proves that the controller can realize the trajectory-tracking control quickly and accurately, and has strong robustness to external disturbances.
Highlights
With the rapid development of automation technology [1]–[8], ship automation [9], [10] has begun to receive attention widely
Matlab simulation proves that the controller can realize the trajectory-tracking control quickly and accurately, and has strong robustness to VOLUME 9, 2021
The purpose of the controller design is to combine the knowledge of Backstepping, fast terminal sliding mode (FTSM) and the extended states observer (ESO) to design control law, so that the heading can track the expected heading equation, the track deviation converges to zero, and the control system is stable
Summary
With the rapid development of automation technology [1]–[8], ship automation [9], [10] has begun to receive attention widely. Ma et al [22] proposed an adaptive neural network (NN) trajectory tracking control scheme, wherein a nonlinear error-driven function was employed to eliminate the input saturation’s effect and improve the stability. To resolve the ship trajectory tracking problem, Wang et al [23] proposed a finite-time fault estimator based fault-tolerance control (FFE-FTC) scheme, which consists of the integral sliding mode control method and Nussbaum technique. A DSC-ESO approach based on the sliding mode control is proposed for the surface ship with external environmental interference, input saturation, and parametric uncertainty in this paper. (2) By combined with extended state observer (ESO) and dynamic surface control (DSC) technique, the internal and external disturbances in real-time can be estimated and compensated, and the ‘‘explosion of complexity’’ caused by backstepping technology is solved. Underactuated ships are vulnerable to external interference and it is difficult to control course angle and eliminate track deviation simultaneously
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